version: 66.13
glider: 122
mission: 20
dive: 4
start: 11 17 116 20 25 56
data:
$ID,122
$MISSION,20
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53356
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00434
$HD_B,0.00856
$HD_C,7.0800002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,614.04321
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,167
$PITCH_MAX,3912
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,19
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,40
$C_ROLL_DIVE,2159
$C_ROLL_CLIMB,2159
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3700
$C_VBD,3102
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,0
$AH0_10V,350
$MINV_24V,12
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-168.24092
$PRESSURE_SLOPE,0.00010751
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373066
$SEABIRD_T_H,0.00062566844
$SEABIRD_T_I,2.3683922e-05
$SEABIRD_T_J,2.5145571e-06
$SEABIRD_C_G,-9.8304396
$SEABIRD_C_H,1.0973777
$SEABIRD_C_I,-0.001747182
$SEABIRD_C_J,0.00021959859
$SC_RECORDABOVE,1050.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,171116,201654,4743.8491,-12224.0498,12,1.1,19,16.6,0.3,13.9,6,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-67.9
$GPS2,171116,202532,4743.9272,-12223.9990,19,1.0,27,16.6,0.3,23.4,7,10.0
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,206.1,1477,-17.4,-10.000,-19.54,2243
$D_GRID,172
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,11,-1.35,-146.6,140,2121,505,695,0.0,0.0,0,130,0.00,0.00,-116.75,0.000,16386,0.000,0.000,140,2121,3538,3507,3570,0,0,0,0,0,0,14.81,28.83,14.83
$GC,134,-1.35,-146.6,141,2122,3508,3570,3.4,-10.0,21,153,11.23,0.00,-2.92,0.000,18438,0.382,0.000,2575,2121,3701,3663,3739,0,0,0,0,0,0,14.43,13.95,14.69
$GC,214,-1.04,-146.6,2574,2121,3664,3740,28.7,-25.1,36,221,0.38,2.40,0.00,0.000,2692,0.254,0.069,2678,756,3701,3663,3739,0,0,0,0,0,0,14.51,14.62,14.62
$GC,258,-0.96,-146.6,2677,757,3664,3740,37.8,-18.6,44,264,0.17,2.42,0.00,0.000,3206,0.229,0.054,2711,2155,3701,3663,3739,0,0,0,0,0,0,14.54,14.64,14.69
$GC,326,-0.92,-146.6,2712,2156,3664,3740,48.1,-13.6,57,331,0.00,0.00,0.00,0.000,134,0.000,0.000,2711,2155,3701,3663,3739,0,0,0,0,0,0,14.85,14.87,14.86
$GC,393,-0.88,-146.6,2711,2156,3664,3740,56.9,-13.2,70,399,0.00,0.00,0.00,0.000,134,0.000,0.000,2711,2155,3701,3663,3739,0,0,0,0,0,0,14.85,14.88,14.88
$GC,581,-0.88,-146.6,2711,2155,3664,3740,82.4,-13.8,107,586,0.00,2.47,0.00,0.000,260,0.000,0.085,2702,3558,3701,3663,3739,0,0,0,0,0,0,14.90,14.69,14.92
$GC,678,-0.88,-146.6,2702,3558,3663,3740,95.9,-14.3,126,685,0.12,2.40,0.00,0.000,3078,0.238,0.059,2730,2167,3701,3663,3740,0,0,0,0,0,0,14.60,14.71,14.74
$GC,867,-0.88,-146.6,2730,2166,3664,3740,122.7,-14.5,163,873,0.00,2.50,0.00,0.000,260,0.000,0.083,2721,3562,3701,3664,3739,0,0,0,0,0,0,14.93,14.71,14.95
$GC,900,-0.91,-146.6,2721,3562,3664,3740,127.5,-14.9,169,906,0.00,2.40,0.00,0.000,1158,0.000,0.054,2721,2156,3701,3663,3739,0,0,0,0,0,0,14.84,14.77,14.85
$STATE,1049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1049,begin apogee
$GC,1057,-0.26,0.0,2722,2156,3664,3740,150.2,-15.2,199,1178,0.70,0.00,111.80,1.307,10246,0.189,0.000,2927,2149,3100,3025,3176,0,0,0,0,1,0,14.68,14.21,13.59
$STATE,1179,end apogee,CONTROL_FINISHED_OK
$STATE,1182,begin climb
$GC,1186,1.35,146.6,2927,2149,3026,3177,157.2,0.0,220,1347,1.62,2.70,148.82,1.033,11012,0.108,0.085,3450,3565,2491,2398,2584,0,0,1,0,0,0,14.24,14.14,13.70
$GC,1487,0.89,146.6,3450,3565,2392,2570,149.9,12.0,274,1494,0.60,2.45,0.00,0.000,5254,0.262,0.057,3311,2163,2481,2392,2570,0,0,0,0,0,0,14.37,14.50,14.56
$GC,1677,0.90,201.9,3311,2164,2390,2570,133.8,7.5,311,1729,0.00,2.58,39.92,1.044,8612,0.000,0.085,3311,3567,2277,2184,2370,0,0,1,0,1,0,14.82,14.44,13.85
$GC,1804,0.73,201.9,3311,3567,2199,2371,121.6,11.2,334,1811,0.25,2.47,0.00,0.000,5254,0.236,0.058,3259,2149,2284,2199,2370,0,0,0,0,0,0,14.45,14.56,14.60
$GC,1993,0.89,253.9,3259,2150,2205,2371,106.5,7.6,371,2057,0.12,2.60,56.65,0.996,10532,0.129,0.082,3322,3561,2051,1964,2139,0,0,0,0,0,0,14.63,14.35,13.96
$GC,2224,0.75,253.9,3322,3562,1960,2126,76.8,14.0,415,2231,0.28,2.42,0.00,0.000,5254,0.225,0.056,3261,2165,2042,1959,2125,0,0,0,0,0,0,14.49,14.59,14.65
$GC,2412,0.75,253.9,3261,2166,1959,2126,56.1,11.1,452,2418,0.00,2.55,0.00,0.000,260,0.000,0.090,3261,3558,2042,1959,2125,0,0,0,0,0,0,14.85,14.64,14.87
$GC,2485,0.75,253.9,3261,3559,1959,2126,47.7,10.6,466,2492,0.00,2.45,0.00,0.000,1030,0.000,0.062,3269,2149,2042,1959,2125,0,0,0,0,0,0,14.75,14.67,14.77
$GC,2553,0.75,253.9,3270,2150,1960,2126,40.1,13.2,479,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2150,2042,1959,2125,0,0,0,0,0,0,14.87,14.89,14.89
$GC,2620,0.75,253.9,3269,2150,1959,2126,32.5,10.4,492,2626,0.00,2.55,0.00,0.000,260,0.000,0.079,3270,3566,2041,1958,2125,0,0,0,0,0,0,14.88,14.64,14.90
$GC,2713,0.75,253.9,3271,3566,1959,2126,23.2,10.1,510,2720,0.00,2.42,0.00,0.000,1030,0.000,0.059,3280,2169,2042,1959,2125,0,0,0,0,0,0,14.79,14.71,14.81
$GC,2781,0.75,253.9,3280,2169,1960,2126,16.8,10.2,523,2787,0.00,2.50,0.00,0.000,516,0.000,0.080,3291,748,2042,1959,2125,0,0,0,0,0,0,14.90,14.68,14.92
$GC,2834,0.83,280.0,3292,749,1960,2126,12.2,8.8,533,2852,0.00,2.42,10.93,0.127,9254,0.000,0.050,3293,2172,1957,1870,2044,0,0,0,0,0,0,14.81,14.75,14.67
$GC,2914,0.88,297.2,3293,2172,1882,2045,5.4,9.2,548,2925,0.00,0.00,9.32,0.101,8230,0.000,0.000,3293,2172,1886,1797,1976,0,0,0,0,0,0,14.90,14.74,14.66
$STATE,2943,end climb,SURFACE_DEPTH_REACHED
$STATE,2944,begin surface coast
$FINISH,-0.1,1.021113
$STATE,2958,end surface coast,CONTROL_FINISHED_OK
$STATE,2958,begin surface
$SM_CCo,2981,177.88,0.090,0,0,597,614.23
$SM_GC,0.18,9.02,0.00,177.88,0.062,0.000,0.090,147,2172,597,-8.89,0.34,614.23,0,0,0,0,0,0,14.75,14.94,14.68
$IRIDIUM_FIX,4726.11,-12137.92,171116,191523
$TT8_MAMPS,0.038948,1.07257
$HUMID,51.14
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,7901312
$24V_AH,13.59,0.000
$10V_AH,13.64,1.553
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.500,44.725,377.450,177.875,0.000,0.000,0.000,310.425,0.000,0.000,28.557,0.000,1329.799,657.109,1373.486,316.197,0.000,1456.614,0.000,809.375,0.000,0.535,0.000
$DEVICE_MAMPS,381.735,89.505,1307.385,89.505,0.000,0.000,0.000,175.950,420.000,0.000,20.970,0.000,2.190,11.220,29.200,33.690,0.000,10.500,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2980.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.551,0.000,0.000,0.000
$MEM,194072
$DATA_FILE_SIZE,20074,557
$CAP_FILE_SIZE,65336,0
$CFSIZE,260034560,256233472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,2,0
$CURRENT,0.068,38.38,1
$GPS,171116,211924,4743.690,-12224.299,14,0.9,19,16.6,0.4,49.9,7,9.8